WOLFRAM SYSTEM MODELER
DrawingRobotPendulum attached to cart |
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Diagram
Wolfram Language
In[1]:=
SystemModel["DocumentationExamples.Control.DrawingRobot"]
Out[1]:=
Information
Wolfram Language Documentation Examples
This library contains models used in the documentation of system modeling functionality in Wolfram Language. These examples and this library can be explored in the Wolfram Language documentation.
Parameters (14)
| lCart |
Value: 0.1 Type: Length (m) Description: Cart length |
|---|---|
| wCart |
Value: 0.05 Type: Length (m) Description: Cart width |
| hCart |
Value: 2 * rBall Type: Height (m) Description: Cart height |
| lPendulum |
Value: 0.75 Type: Length (m) Description: Pendulum rod length |
| rPendulum |
Value: 0.0025 Type: Radius (m) Description: Pendulum rod radius |
| rBall |
Value: 0.037 Type: Radius (m) Description: Pendulum ball radius |
| rhoCart |
Value: 2703 Type: Density (kg/m³) Description: Cart density |
| rhoPendulum |
Value: 7750 Type: Density (kg/m³) Description: Pendulum rod density |
| rhoBall |
Value: 14139 Type: Density (kg/m³) Description: Pendulum ball density |
| cartMass |
Value: lCart * hCart * wCart * rhoCart Type: Mass (kg) Description: Cart mass |
| rodMass |
Value: Modelica.Constants.pi * rPendulum ^ 2 * lPendulum * rhoPendulum Type: Mass (kg) Description: Pendulum rod mass |
| ballMass |
Value: 4 / 3 * Modelica.Constants.pi * rBall ^ 3 * rhoBall Type: Mass (kg) Description: Pendulum ball mass |
| iBall |
Value: 8 / 15 * Modelica.Constants.pi * rhoBall * rBall ^ 5 Type: MomentOfInertia (kg·m²) Description: Pendulum ball inertia |
| pathTraceBoxSide |
Value: rBall / 2 Type: Length (m) Description: Side of box used for path tracing in animation |
Connectors (4)
 |
f |
Type: RealInput Description: Force applied to the cart |
|---|---|---|
|
tau |
Type: RealInput Description: Torque applied to the pendulum |
 |
x |
Type: RealOutput Description: Component x of position of pendulum ball |
|
y |
Type: RealOutput Description: Component y of position of pendulum ball |
Components (11)
 |
world |
Type: World |
|---|---|---|
 |
slider |
Type: Prismatic |
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revolute |
Type: Revolute |
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cart |
Type: BodyBox |
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pendulumRod |
Type: BodyCylinder |
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ball |
Type: Body |
 |
shape |
Type: FixedShape |
 |
ballPosition |
Type: AbsolutePosition |
 |
torque |
Type: Torque |
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force |
Type: Force2 |
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zeros |
Type: Constant[2] |